118 lines
3.4 KiB
Python
Executable File
118 lines
3.4 KiB
Python
Executable File
#! /usr/bin/env python3
|
|
import asyncio
|
|
import uuid
|
|
import aioserial
|
|
import aiomqtt
|
|
import pyubx2
|
|
|
|
BAUD = 115200
|
|
|
|
|
|
class SerialMQTTHandler:
|
|
def __init__(
|
|
self,
|
|
handler_id: str,
|
|
serial_port: str,
|
|
mqtt_host: str = "127.0.0.1",
|
|
mqtt_port: int = 1883,
|
|
):
|
|
self.handler_id = handler_id
|
|
self.serial_port = serial_port
|
|
self.mqtt_host = mqtt_host
|
|
self.mqtt_port = mqtt_port
|
|
|
|
# Serial
|
|
self.ser = aioserial.AioSerial(
|
|
port=serial_port,
|
|
baudrate=BAUD,
|
|
timeout=0.05, # 50 ms
|
|
)
|
|
|
|
# MQTT client
|
|
self.client_id = f"{handler_id}-{uuid.uuid4()}"
|
|
self.mqtt_client = aiomqtt.Client(
|
|
mqtt_host, port=mqtt_port, identifier=self.client_id
|
|
)
|
|
|
|
# Topic base
|
|
self.topic_base = f"asset/{handler_id}"
|
|
|
|
async def parse_serial(self):
|
|
buffer = bytearray()
|
|
|
|
class StreamWrapper:
|
|
def read(inner_self, n=1):
|
|
if not buffer:
|
|
raise BlockingIOError
|
|
out = buffer[:n]
|
|
del buffer[:n]
|
|
return bytes(out)
|
|
|
|
ubr = pyubx2.UBXReader(StreamWrapper(), parsing=True)
|
|
|
|
while True:
|
|
chunk = await self.ser.read_async(200)
|
|
if chunk:
|
|
buffer.extend(chunk)
|
|
|
|
try:
|
|
while True:
|
|
raw, parsed = ubr.read()
|
|
if raw is None:
|
|
break
|
|
yield raw, parsed
|
|
except (pyubx2.UBXStreamError, BlockingIOError, Exception):
|
|
pass
|
|
else:
|
|
await asyncio.sleep(0)
|
|
|
|
async def serial_reader_task(self):
|
|
async for raw, parsed in self.parse_serial():
|
|
if isinstance(parsed, pyubx2.UBXMessage):
|
|
for name, value in vars(parsed).items():
|
|
if name.startswith("_"):
|
|
continue
|
|
topic = f"{self.topic_base}/{parsed.identity}/{name}"
|
|
await self.mqtt_client.publish(topic, value, qos=1, retain=True)
|
|
else:
|
|
print(parsed)
|
|
|
|
await self.mqtt_client.publish(f"{self.topic_base}/raw", raw)
|
|
await self.mqtt_client.publish(f"{self.topic_base}/parsed", str(parsed))
|
|
|
|
async def mqtt_command_writer_task(self):
|
|
command_topic = f"{self.topic_base}/command"
|
|
async for message in self.mqtt_client.messages:
|
|
topic = str(message.topic)
|
|
if topic == command_topic:
|
|
await self.ser.write_async(message.payload)
|
|
|
|
async def run(self):
|
|
command_topic = f"{self.topic_base}/command"
|
|
interval = 5
|
|
|
|
while True:
|
|
try:
|
|
async with self.mqtt_client as client:
|
|
await client.subscribe(command_topic)
|
|
|
|
await asyncio.gather(
|
|
self.serial_reader_task(),
|
|
self.mqtt_command_writer_task(),
|
|
)
|
|
|
|
except aiomqtt.MqttError as e:
|
|
print(
|
|
f"[{self.handler_id}] MQTT connection error: {e}. Reconnecting in {interval}s..."
|
|
)
|
|
await asyncio.sleep(interval)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
|
|
async def main():
|
|
handler = SerialMQTTHandler("example-gps", "/tmp/ttyV0")
|
|
await handler.run()
|
|
|
|
asyncio.run(main())
|